Paper Info
Title
Development of a Vision System for an Outdoor Service Robot to Collect Trash on Streets
Abstract
The outdoor service robot which we call OSR-01 is presently under development intending for cleaning up ur- ban areas by means of collecting discarded trash such as PET bottles, cans, plastic bags and so on. We, in this pa- per, describe the architecture of OSR-01 consisting of hard- wares such as sensors, a manipulator, driving wheels, etc. for searching for and picking up trash, and softwares such as fast pattern matching for identifying various trash and distance measurement for picking up via the manipulator. After describing the vision system in detail, which is one of the most critical parts of the trash collection task, we show the result of an open experiment in which OSR-01 collects plastic PET bottles on a real shopping street in the special zone for robot research and development in Kitakyushu- city.
Year
Venue
Keywords
2005
Computer Graphics and Imaging
outdoor service robot,trash collec- tion task,fast pattern matching,environment beautification,pattern matching,vision system
Field
DocType
Citations 
Computer vision,Machine vision,Artificial intelligence,Mobile robot navigation,Geography,Service robot
Conference
0
PageRank 
References 
Authors
0.34
5
11
Name
Order
Citations
PageRank
Yasuhiro Fuchikawa100.34
Takeshi Nishida25415.90
Shuichi Kurogi36821.58
T. Kondo4123.87
Fujio Ohkawa573.11
Toshinori Suehiro610.79
Yasuhiro Watanabe700.34
Yoshinori Kawamura8173.82
Masayuki Obata910.69
Hidekazu Miyagawa1010.69
Yoshimitsu Kihara1100.34